US11353563B2 - Avalanche diode based object detection device - Google Patents
Avalanche diode based object detection device Download PDFInfo
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- US11353563B2 US11353563B2 US16/129,804 US201816129804A US11353563B2 US 11353563 B2 US11353563 B2 US 11353563B2 US 201816129804 A US201816129804 A US 201816129804A US 11353563 B2 US11353563 B2 US 11353563B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
- G01S7/4914—Circuits for detection, sampling, integration or read-out of detector arrays, e.g. charge-transfer gates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
Abstract
Description
CN1=t 1 ×FF×PDP×(P LD /E ph)+t p ×FF×PDP×(P AMB /E ph) (1), and
CN2=t 2 ×FF×PDP×(P LD /E ph)+t p ×FF×PDP×(P AMB /E ph) (2),
TOF1=(½f mod)×(CN2/(CN1+CN2)) (3),
TOF2=(½f mod)×(Q2ON −Q2OFF)/((Q1ON −Q1OFF)+(Q2ON −Q2OFF)) (4)
CN1=(t 1 ×FF×PDP×P LD /E ph +tp×FF×PDP×P AMB /E ph)−(tp×FF×PDP×P AMB /E ph) (5)
CN2=(t 2 ×FF×PDP×P LD /E ph +tp×FF×PDP×P AMB /E ph)−(tp×FF×PDP×P AMB /E ph) (6)
Claims (5)
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/129,804 US11353563B2 (en) | 2018-09-13 | 2018-09-13 | Avalanche diode based object detection device |
CN202210487072.8A CN115047481A (en) | 2018-09-13 | 2019-03-19 | Detection device based on avalanche diode |
CN201910206860.3A CN110895336B (en) | 2018-09-13 | 2019-03-19 | Object detection device based on avalanche diode |
US16/458,605 US11381806B2 (en) | 2018-09-13 | 2019-07-01 | Detection device and detection method using avalanche diode array and calibration matrix generating method thereof |
US17/735,547 US20220260680A1 (en) | 2018-09-13 | 2022-05-03 | Avalanche diode based detection device |
US17/826,533 US20220286664A1 (en) | 2018-09-13 | 2022-05-27 | Detection device and detection method using avalanche diode array and calibration matrix generating method thereof |
Applications Claiming Priority (1)
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US16/129,804 US11353563B2 (en) | 2018-09-13 | 2018-09-13 | Avalanche diode based object detection device |
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US16/458,605 Continuation-In-Part US11381806B2 (en) | 2018-09-13 | 2019-07-01 | Detection device and detection method using avalanche diode array and calibration matrix generating method thereof |
US17/735,547 Continuation US20220260680A1 (en) | 2018-09-13 | 2022-05-03 | Avalanche diode based detection device |
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US20200088843A1 US20200088843A1 (en) | 2020-03-19 |
US11353563B2 true US11353563B2 (en) | 2022-06-07 |
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US16/129,804 Active 2040-11-29 US11353563B2 (en) | 2018-09-13 | 2018-09-13 | Avalanche diode based object detection device |
US17/735,547 Pending US20220260680A1 (en) | 2018-09-13 | 2022-05-03 | Avalanche diode based detection device |
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KR20210003003A (en) * | 2019-07-01 | 2021-01-11 | 삼성전자주식회사 | Lidar apparatus and controlling method thereof |
WO2021215113A1 (en) * | 2020-04-22 | 2021-10-28 | ソニーグループ株式会社 | Solid-state imaging element, sensing system, and control method for solid-state imaging element |
WO2023094308A1 (en) * | 2021-11-26 | 2023-06-01 | Sony Semiconductor Solutions Corporation | Time-of-flight circuitry and time-of-flight method |
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2018
- 2018-09-13 US US16/129,804 patent/US11353563B2/en active Active
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2019
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- 2019-03-19 CN CN202210487072.8A patent/CN115047481A/en active Pending
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2022
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US20200088843A1 (en) | 2020-03-19 |
CN110895336B (en) | 2022-05-27 |
CN110895336A (en) | 2020-03-20 |
US20220260680A1 (en) | 2022-08-18 |
CN115047481A (en) | 2022-09-13 |
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